From fae6c694239194bbdbc7c872bb1a1d11a8894474 Mon Sep 17 00:00:00 2001 From: Anton Babushkin Date: Sun, 22 Dec 2013 12:20:06 +0400 Subject: mc_att_control_vector, multirotor_pos_control: fixed --- src/modules/mc_att_control_vector/mc_att_control_vector_main.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'src/modules/mc_att_control_vector/mc_att_control_vector_main.cpp') diff --git a/src/modules/mc_att_control_vector/mc_att_control_vector_main.cpp b/src/modules/mc_att_control_vector/mc_att_control_vector_main.cpp index 63aece1d9..76f053372 100644 --- a/src/modules/mc_att_control_vector/mc_att_control_vector_main.cpp +++ b/src/modules/mc_att_control_vector/mc_att_control_vector_main.cpp @@ -630,7 +630,7 @@ MulticopterAttitudeControl::task_main() math::Vector3 rates_sp = _K * e_R; /* feed forward yaw setpoint rate */ - rates_sp(2) += yaw_sp_move_rate; + rates_sp(2) += yaw_sp_move_rate * yaw_w; math::Vector3 control = _K_rate_p * (rates_sp - rates) + _K_rate_d * (_rates_prev - rates) / fmaxf(dt, 0.003f); _rates_prev = rates; -- cgit v1.2.3